Generalization of the Euler Angles
Centering and Observability in Attitude-Independent Magnetometer-Bias Determination
Errata: Efficient Algorithms for Spin-Axis Attitude Estimation
Constraint in Attitude Estimation Part II: Unconstrained Estimation
Effective direction measurements for spacecraft attitude: I. Equivalent directions
Effective direction measurements for spacecraft attitude: III. Defective directions and data fusion
The quest for better attitudes
The TRIAD algorithm as maximum likelihood estimation
Decentralized Attitude Estimation Using a Quaternion Covariance Intersection Approach